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This paper summarizes data fusion, controller design and experimental work done recently for the longitudinal control of a platoon of autonomous vehicles. This paper presents alternative sub-models of an engine and a transmission to achieve the goal of precise spacing control with smooth ride quality. Adaptive observers are developed to estimate the vehicle-to-vehicle spacing and the closing rate. The estimated values are used in a sliding mode based controller. The developed control strategies are implemented on test vehicles and four vehicle platoon control performed at low to highway speed profiles using throttle position control alone.
Choi et al. (Wed,) studied this question.